Discrete-Time Control Barrier Functions for Guaranteed Recursive Feasibility in Nonlinear MPC: An Application to Lane Merging. - Alexander Katriniok; Erfan Shakhesi; W. P. M. H. Heemels (CDC, 2023)

Optimization-based Verification of Discrete-time Control Barrier Functions: A Branch-and-Bound Approach. - Erfan Shakhesi; W. P. Maurice H. Heemels; Alexander Katriniok (CDC, 2024)

Counterexample-Guided Synthesis of Robust Discrete-Time Control Barrier Functions. - Erfan Shakhesi; Alexander Katriniok; W. P. Maurice H. Heemels (IEEE Control. Syst. Lett., 2025)

Synthesis of Discrete-time Control Barrier Functions for Polynomial Systems Based on Sum-of-Squares Programming. - Erfan Shakhesi; W. P. M. H. Heemels; Alexander Katriniok (CoRR, 2025)